CN104870942A - Device for determining the location of vehicle - Google Patents
Device for determining the location of vehicle Download PDFInfo
- Publication number
- CN104870942A CN104870942A CN201380066631.7A CN201380066631A CN104870942A CN 104870942 A CN104870942 A CN 104870942A CN 201380066631 A CN201380066631 A CN 201380066631A CN 104870942 A CN104870942 A CN 104870942A
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- Prior art keywords
- vehicle
- motion determination
- location determining
- determination apparatus
- error
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- 230000033001 locomotion Effects 0.000 claims description 38
- 230000001133 acceleration Effects 0.000 claims description 23
- 230000005484 gravity Effects 0.000 claims description 6
- 239000000758 substrate Substances 0.000 claims description 4
- 238000001514 detection method Methods 0.000 description 10
- 230000005540 biological transmission Effects 0.000 description 9
- 230000008878 coupling Effects 0.000 description 5
- 238000010168 coupling process Methods 0.000 description 5
- 238000005859 coupling reaction Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 244000025254 Cannabis sativa Species 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000010355 oscillation Effects 0.000 description 2
- 238000003556 assay Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000007598 dipping method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/265—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network constructional aspects of navigation devices, e.g. housings, mountings, displays
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/47—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
Abstract
The invention relates to a device (44) for determining the location of a vehicle (2), said device having a position-determining device (6), comprising: - said position-determining device (6) for determining a position (8) indicating the location of the vehicle (2), - a movement-determining device (48) for determining driving dynamics (16) of the vehicle (2), and - a filter device (30) for determining an error (42) in the position (8) of the vehicle (2) on the basis of the driving dynamics (16), - wherein the position-determining device (6) and the movement-determining device (48) are each connected to said filter device (30) via a dedicated line (46).
Description
Technical field
The present invention relates to a kind of device for measuring vehicle heading and a kind of vehicle with described device.
Background technology
Known by WO 20,11/,098 333 A1, in vehicle, consider different sensor parameters, to improve the sensor parameter that existed or produce new sensor parameter and and then increase detectable information.
Summary of the invention
Task of the present invention is, improves the use of multiple sensor parameter for increase information.
This task is completed by the feature described in independent claims.The theme of dependent claims is preferred improvement project.
According to an aspect of the present invention, the device for utilizing location determining device to measure vehicle heading comprises: for determining the location determining device of the position measuring vehicle heading; For determining the motion determination apparatus of the vehicle dynamics of vehicle, and for the filter apparatus of the error in the position based on vehicle dynamics determination vehicle, wherein, location determining device is connected with filter apparatus by each dedicated line with motion determination apparatus.
The basic consideration of described device is, the error determined by filter apparatus such as can consider the position fixed the position for revising in filter apparatus itself or in location determining device.But only when error is determined the driving dynamics class hour of the position of detection assay vehicle heading and vehicle in real time, correction is only significant, because error is no longer mated the position of mensuration vehicle heading in addition and and then is out-of-date.Therefore, determined error is useless.
The basic consideration of described device is also, in normal vehicle frame meaningfully, by location determining device---such as the receiver (hereinafter referred to as GNSS receiver) of received global navigation satellite system signal---and motion determination apparatus---such as inertial sensor (being called IMU)---is arranged on two different places, because its measurement parameter to be detected is distorted due to different rim conditions.Therefore such as GNSS receiver should be arranged as far as possible close to antenna, to keep the signal de-emphasis of the GNSS signal by long cable little as far as possible.Relatively, IMU should be arranged in the center of gravity place of vehicle as far as possible, so that in the error avoided in driving dynamics class hour based on lever arm detecting vehicle.Therefore, the data of two sensors must exchange in any way each other, it is suitable that itself are arranged on the bus system in vehicle, such as CAN (controller zone network bus Controller Area Network-Bus) for this reason.
But further consider based on this, recognize in framework of the present invention, due to can produce uncertainty by bus system transmission from the data of location determining device and motion determination apparatus and and then not amendable transmission latency.In the CAN mentioned before, the transmission latency of this uncertainty can reach 2ms, and this transmission latency maximumly can increase to 10ms due to the time base error typically reaching 2ms.Therefore filter apparatus correspondingly receives outdated data, correspondingly reduces the data integrity of the error calculated of filter apparatus thus.If cross time error this and measure the position of vehicle heading or the vehicle dynamics of vehicle for revising, then it even can cause reverse effect and the data integrity of the position of mensuration vehicle heading or the vehicle dynamics of vehicle is deteriorated.
Therefore, suggested within the framework of the invention, accept the cost of corresponding higher electronics and by dedicated line, location determining device and motion determination apparatus be connected to each other, thus before reducing transmission latency of mentioning and and then be increased to the data integrity of few error, but also preferably improve the position measuring vehicle heading and/or the data integrity of vehicle dynamics of vehicle.Data integrity should comprise the time complexity curve unit of at least one data hereinafter, can identify according to this amending unit, and whether the fact of case described by data is out-of-date or not out-of-date.
In the framework of described device, the vehicle dynamics data exported by motion determination apparatus are construed as vehicle around the acceleration information of main shaft and/or speed of rotation data.The vehicle dynamics data exported by motion determination apparatus can comprise longitudinal acceleration, transverse acceleration, vertically acceleration, rate of oscillation, pitch rate and/or deflection efficiency at this.
In the improvement project of described device, location determining device, motion determination apparatus, filter apparatus and dedicated line are integrated in common module.The length of determining equipment, dedicated line between motion determination apparatus and filter apparatus of can dipping further in this way and and then shorten working time and postpone, further increase the data integrity of the data of filter apparatus thus.
In special improvement project, common module comprises common substrate, is furnished with location determining device, motion determination apparatus, filter apparatus and dedicated line on the substrate.The length of dedicated line can be made in this way to minimize and and then make it delay minimization working time that prerequisite arrives, therefore further increase the data integrity of the data of filter apparatus.
In order to reduce the transmission latency in described device between each equipment further, in particularly preferred improvement project, this device can comprise storer, storer is used jointly by location determining device, motion determination apparatus and filter apparatus, thus when memory access, delay can be decreased to minimum value.
In another improvement project of described device, location determining device is arranged for, and determines the absolute position of vehicle based on two with two different frequencies different location determination signals.The larger degree of accuracy of location determining device can be realized in this way and and then realize better basis for utilizing the merging of motion determination apparatus.
In the extra improvement project of described device, location determining device is arranged for, the error of the equipment that accepts filter based on the position fixed the position of described error correction vehicle.This location determining device such as comprises the receiver (GNSS receiver also referred to as degree of depth coupling) of the signal of the GLONASS (Global Navigation Satellite System) of degree of depth coupling.At this, navigation information---such as position, speed etc.---is back to the GNSS receiver of degree of depth coupling, so that thus can by the Doppler shift compensated waving better of such as incoming frequency.Compared with closely-coupled GNSS receiver, the data of motion determination apparatus are also just not only used in realize accurate as far as possible direction-finding in filter apparatus, and are used in location determining device to improve robustness and the sensitivity of GNSS signal reception.Although before described improvement also can be able to be observed as during location determining device in said device in the closely-coupled GNSS receiver of use, but in the GNSS receiver of degree of depth coupling, error in the position measuring vehicle heading reduces further by feeding back in location determining device, this achieves higher data integrity.But, this higher data integrity only can in feedback enough hour of fault-time and and then enough hour of transmission latency realize, therefore described device in conjunction with the GNSS receiver that the degree of depth be coupled can give full play to its complete potentiality for improve data integrity.
According to another aspect of the present invention, vehicle comprises described device.
In improvement project, described vehicle comprises antenna, and this antenna is for receiving the signal for location determining device, and wherein, this device is disposed on antenna.As mentioned above, above-mentioned transmission latency should be reduced as far as possible.The basic consideration of described improvement project is, when motion determination apparatus is not disposed in vehicle's center of gravity, motion determination apparatus is introduced error in vehicle dynamics data mainly through lever arm.But contrary with transmission latency random in the GNSS signal received by antenna, lever arm especially in the vehicle of vehicle body with rigidity be to a great extent deterministic error source and can export vehicle dynamics data time be considered.Therefore, motion determination apparatus and location determining device are arranged near antenna together the most reasonable technically.But also can advantageously motion determination apparatus be arranged on antenna in the vehicle with non-rigid vehicle body, because motion determination apparatus can be synchronized with the movement with antenna when detecting the vehicle dynamics of vehicle, and the error in the direction-finding of vehicle can be suppressed thus, described error in the vehicle with non-rigid vehicle body because antenna occurs relative to the motion of the center of gravity of vehicle.
In alternative or extra improvement project, described vehicle comprises another motion determination apparatus, and another motion determination apparatus described is disposed in the center of gravity place of vehicle.When non-rigid vehicle body before, above-mentioned lever arm error is no longer purely deterministic, because the body distortion being difficult to detect can affect vehicle dynamics.Especially when vehicle body rigidity is minimum, motion determination apparatus can be arranged in the above-mentioned advantages that above-mentioned advantage near antenna and motion determination apparatus are arranged in immediate vicinity by using two motion determination apparatus.
In extra improvement project, described vehicle especially advantageously can have speed of rotation determination equipment, and described speed of rotation determination equipment is arranged for, based on the speed of rotation of the acceleration signal determination vehicle exported by motion determination apparatus.Can be that two motion determination apparatus such as use two inexpensive accelerographs to replace two expensive six axle IMU in this way, described accelerograph detect vehicle longitudinally, the acceleration of transverse direction and vertical direction.
Accompanying drawing explanation
Clearer and be easier to understand in conjunction with hereafter making above-mentioned characteristic of the present invention, feature and advantage to the description of embodiment and how realizing these characteristics, the mode of feature and advantage and method, set forth described embodiment further by reference to the accompanying drawings, wherein:
Fig. 1 illustrates the schematic diagram with the vehicle merging sensor; And
Fig. 2 illustrates the schematic diagram of the merging sensor of Fig. 1.
In the accompanying drawings, identical technology element has identical Reference numeral and only describes once.
Embodiment
With reference to figure 1, it illustrates the schematic diagram with the vehicle 2 merging sensor 4.
In this embodiment, merge sensor 4 receives vehicle 2 position data 8 by known GNSS receiver 6 itself, described position data comprises the absolute position of vehicle 2 on track 10.Except absolute position, the position data 8 from GNSS receiver 6 also comprises the speed of vehicle 2.In this embodiment, position data 8 from GNSS receiver 6 is derived by the GNSS signal 12 in GNSS receiver 6 in the manner known to persons skilled in the art, and described GNSS signal is received also therefore hereinafter referred to as GNSS position data 8 by GNSS antenna 13.To this details see relate art literature.
Merge sensor 4 to be used for the patten's design that hereafter will describe, increase the information content of the GNSS position data 8 derived by GNSS signal 12.This is necessary on the one hand, because GNSS signal 12 has minimum signal/grass gap and therefore can be extremely inaccurate.On the other hand, GNSS signal 12 is not can use always.
In this embodiment, vehicle 2 has the motion determination apparatus 14 of the vehicle dynamics data 16 detecting vehicle 2 for this reason.Wherein there will be a known the longitudinal acceleration of vehicle 2, transverse acceleration and vertical acceleration and rate of oscillation, pitch rate and deflection efficiency.Consider this vehicle dynamics data 16 in this embodiment, to increase the information content of GNSS position data 8 and such as accurately the position of vehicle 2 on track 10 and speed to be described.When such as GNSS signal 12 in tunnel complete unavailable time, can be used by navigating instrument 20 itself by the position data 18 accurately illustrated.
In this embodiment, in order to increase the information content of GNSS position data 8 further, can also optionally use wheel speed sensor 22, described wheel speed sensor detects the wheel speed 24 of each wheel 26 of vehicle 2.Can consider that steering angle signal is for the information content increasing GNSS position data further equally.
See Fig. 2, it illustrates the schematic diagram of the merging sensor 4 in Fig. 1.
Already mentioned measurement data arrives and merges in sensor 4 in FIG.Merge sensor 4 should export by the position data 18 accurately illustrated.Basic thought is, contrasts from the information of GNSS position data 8 and enters vehicle dynamics data 16 in wave filter 30 from motion determination apparatus 14 and increase in the position data 8 of GNSS receiver 6 or from the signal in the vehicle dynamics data 16 of motion determination apparatus 14/grass gap thus.Although for this reason can designing filter arbitrarily, but Kalman filter most effectively and required this task with relatively little computational resource.Therefore, wave filter 30 should be preferably Kalman filter 30 hereinafter.
Being arrived in Kalman filter 30 by the comparison position data 34 of the position data 18 that accurately illustrates and vehicle 2 of vehicle 2.In this embodiment, by the position data 18 that accurately illustrates such as to be produced by vehicle dynamics data 16 by the strapdown inertial 36 that DE 10 2,006 029 148 A1 is known.It comprises about vehicle by the positional information accurately illustrated, but also comprise other position data about vehicle 2, such as its speed, its acceleration and its moving direction.Relatively, obtain comparison position data 34 by the model 38 of vehicle 2, first described model supplies GNSS position data 8 by GNSS receiver 6.In model 38, determine comparison position data 34 by this GNSS position data 8 subsequently, described comparison position packet containing with by the same information of the position data 18 that accurately illustrates.Only had any different in their value by the position data 18 that accurately illustrates and comparison position data 34.
Kalman filter 30 is based on being calculated for by the error budget 40 of position data 18 that accurately illustrates and the error budget 42 for comparison position data 34 by the position data 18 that accurately illustrates and comparison position data 34.Error budget is construed as the total error in signal hereinafter, and this total error forms by the detection single error different with during signal transmission.Concerning GNSS signal 12 and and then concerning GNSS position data 8, corresponding error budget can be made up of the error of satellite orbit, satellite time, remaining refraction effect and be made up of the error in GNSS receiver 6.Described error budget enters the error budget 42 of comparison position data 34 together.
Corresponded to strapdown inertial 36 and model 38 by the error budget 42 of the error budget 40 of position data 18 that accurately illustrates and comparison position data 34 to be transfused to for revising by the position data 18 that accurately illustrates or comparison position data 34.That is, its error is eliminated iteratively by the position data 18 that accurately illustrates and comparison position data 34.
In this embodiment, the parts merging location determining device 14 not shown further in sensor 4, GNSS receiver 6 and Fig. 2 are disposed in common merging module 44, described merging module such as can be designed as common housing, common substrate---such as printed circuit board, or be even designed to the common circuit on chip.Merge module 44 to be arranged on antenna 13 in this local in vehicle 2.
In merging module 44, GNSS receiver 6 is by sending to merging sensor 4 to add the dedicated line 46 shown in thick line position data 8 in fig. 2.
In addition, merge module 44 and comprise the first acceleration detection equipment 48, this first acceleration detection equipment is locally arranged on antenna 13 together with GNSS receiver 6.First acceleration detection equipment 48 detects and this acceleration is sent to inertia computing equipment 52 by dedicated line 46 along all three direction in spaces at the acceleration 50 of the place place vehicle 2 of antenna 13, and this inertia computing equipment to be also sent to vehicle dynamics data 16 by dedicated line in the mode that also will describe and to merge sensor 4.
Merge module 44 and also comprise bus port 54, by this bus port, be correspondingly sent to navigating instrument 20 by the position data 18 that accurately illustrates and wheel speed 24 by CAN 56 and can be received by wheel speed sensor 22.
In the present embodiment, CAN 56 is also connected with the second acceleration detection equipment 58, the acceleration 50 of the center of gravity place vehicle 2 of described second acceleration detection equipment Inspection vehicle 2 by CAN 56 along with precise time mark is sent to inertia computing equipment 52 together.Inertia computing equipment 52 understands the distance between the first acceleration detection equipment 48 and the second acceleration detection equipment 58, thus its based on vehicle the acceleration 50 that two places place detects can calculate vehicle 2 speed of rotation, namely deflect, swing and pitching.Therefore, two acceleration detection equipment 48,58 instead of traditional inertial sensor together with inertia computing equipment 52.
In this embodiment, the error budget 42 of such as comparison position data 34 is returned by dedicated line 46 and is sent to GNSS receiver 6 together with the above-mentioned error budget of GNSS signal 12 alternatively, and therefore GNSS receiver 6 accurately can illustrate the determination of position data 8 as in the GNSS receiver of known degree of depth coupling itself based on GNSS signal 12 when considering error budget 42.
Claims (10)
1. the device (44) for utilizing location determining device (6) to measure vehicle (2) orientation, this device comprises:
-for determining the location determining device (6) of the position (8) measuring vehicle (2) orientation;
-for determining the motion determination apparatus (48) of the vehicle dynamics (16) of vehicle (2); And
-for determining the filter apparatus (30) of the error (42) in the position (8) of vehicle (2) based on vehicle dynamics (16),
-wherein, location determining device (6) is connected with filter apparatus (30) by each dedicated line (46) with motion determination apparatus (48).
2. device according to claim 1 (44), wherein, location determining device (6), motion determination apparatus (48), filter apparatus (30) and dedicated line (46) are integrated in common module (44).
3. device according to claim 2 (44), wherein, common module (44) comprises common substrate, is furnished with location determining device (6), motion determination apparatus (48), filter apparatus (30) and dedicated line (46) on the substrate.
4. according to device in any one of the preceding claims wherein (44), this device comprises storer, and described storer is used jointly by location determining device (6), motion determination apparatus (48) and filter apparatus (30).
5. according to device in any one of the preceding claims wherein (44), wherein, described location determining device (6) is arranged for, and determines the absolute position (8) of vehicle (2) based on two with two different frequencies different location determination signals (12).
6. according to device in any one of the preceding claims wherein (44), wherein, described location determining device (6) is arranged for, and the error (42) of the equipment that accepts filter (30) also revises the position (8) fixed the position of vehicle (2) based on described error (42).
7. one kind comprises the vehicle (2) according to device in any one of the preceding claims wherein (44).
8. vehicle according to claim 7 (2), this vehicle comprises antenna (13), described antenna is used for receiving the signal (12) being used for location determining device (6), wherein, described device (44) is disposed on antenna (13).
9. the vehicle according to claim 7 or 8, this vehicle comprises another motion determination apparatus (58), and another motion determination apparatus described is disposed in the center of gravity place of vehicle (2).
10. vehicle according to claim 9, this vehicle comprises speed of rotation determination equipment (52), described speed of rotation determination equipment is arranged for, and determines the speed of rotation (16) of vehicle (2) based on the acceleration signal (50) exported by motion determination apparatus (48,58).
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102012224109.4 | 2012-12-20 | ||
| DE102012224109.4A DE102012224109A1 (en) | 2012-12-20 | 2012-12-20 | Device for locating a vehicle |
| PCT/EP2013/076244 WO2014095526A1 (en) | 2012-12-20 | 2013-12-11 | Device for determining the location of a vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104870942A true CN104870942A (en) | 2015-08-26 |
Family
ID=49753195
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201380066631.7A Pending CN104870942A (en) | 2012-12-20 | 2013-12-11 | Device for determining the location of vehicle |
Country Status (5)
| Country | Link |
|---|---|
| US (1) | US20150316653A1 (en) |
| EP (1) | EP2936059A1 (en) |
| CN (1) | CN104870942A (en) |
| DE (1) | DE102012224109A1 (en) |
| WO (1) | WO2014095526A1 (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102014218703A1 (en) * | 2014-09-17 | 2016-03-17 | Continental Teves Ag & Co. Ohg | Redundant localization using GNSS signal |
| DE102014219382A1 (en) * | 2014-09-25 | 2016-03-31 | Continental Teves Ag & Co. Ohg | Sensor calibration in a park |
| DE102019203328A1 (en) * | 2019-03-12 | 2020-09-17 | Robert Bosch Gmbh | Position determination system for a vehicle, map-based navigation system, vehicle |
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| US6205400B1 (en) * | 1998-11-27 | 2001-03-20 | Ching-Fang Lin | Vehicle positioning and data integrating method and system thereof |
| US6249246B1 (en) * | 1996-11-04 | 2001-06-19 | Robert Bosch Gmbh | Location sensor having a satellite receiver for position determination |
| US20020008661A1 (en) * | 2000-07-20 | 2002-01-24 | Mccall Hiram | Micro integrated global positioning system/inertial measurement unit system |
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| US20120147386A1 (en) * | 2010-12-09 | 2012-06-14 | Chih-Hsuan Liao | Touch Device with Light Frequency Sensor for Sensing Relative Position of Object to be Detected |
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| US6424914B1 (en) * | 2000-12-26 | 2002-07-23 | American Gnc Corporation | Fully-coupled vehicle positioning method and system thereof |
| US20030135327A1 (en) * | 2002-01-11 | 2003-07-17 | Seymour Levine | Low cost inertial navigator |
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| US9547910B2 (en) * | 2010-03-04 | 2017-01-17 | Honeywell International Inc. | Method and apparatus for vision aided navigation using image registration |
-
2012
- 2012-12-20 DE DE102012224109.4A patent/DE102012224109A1/en active Pending
-
2013
- 2013-12-11 US US14/650,408 patent/US20150316653A1/en not_active Abandoned
- 2013-12-11 WO PCT/EP2013/076244 patent/WO2014095526A1/en active Application Filing
- 2013-12-11 CN CN201380066631.7A patent/CN104870942A/en active Pending
- 2013-12-11 EP EP13802664.6A patent/EP2936059A1/en not_active Ceased
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Also Published As
| Publication number | Publication date |
|---|---|
| EP2936059A1 (en) | 2015-10-28 |
| US20150316653A1 (en) | 2015-11-05 |
| WO2014095526A1 (en) | 2014-06-26 |
| DE102012224109A1 (en) | 2014-06-26 |
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